---
license: gpl-3.0
pipeline_tag: robotics
library_name: pytorch
---

# Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data

<a href="https://arxiv.org/abs/2511.17373">
    <img src='https://img.shields.io/badge/Arxiv-lightgreen?style=for-the-badge&labelColor=006400&color=006400' alt='Paper PDF'></a>
<a href='https://opendrivelab.com/AMS/'>
    <img src='https://img.shields.io/badge/Website-darkgreen?style=for-the-badge&labelColor=006400' alt='Project Page'></a>
<a href='https://huggingface.co/datasets/alluringPomelo/AMS'>
    <img src='https://img.shields.io/badge/Dataset-lightgreen?style=for-the-badge&labelColor=006400&color=006400' alt='Dataset'></a>

This repository provides the 10k synthetic balance motion dataset generated by the pipeline proposed in the paper **"Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data"**.

For code and usage instructions please see the project's Github repository: [OpenDriveLab/AMS](https://github.com/OpenDriveLab/AMS).